Server Example: Minitaur PD

Overview

Runs Minitaur with PD control, including per-joint gains that zero out unactuated joints. It is a compact reference for legged robot PD setup.

Screenshot

Target

CMake target: minitaur_pd.

Run

Run the build-tree executable:

./build-examples/examples/minitaur_pd

On Windows, run minitaur_pd.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

• Loads the Minitaur URDF (closed-loop) and applies PD to actuated joints.
• Sets gains to zero for unactuated joints in the closed-loop model.
• Focuses the camera on the robot to show posture stability.